CN104748715A - System and method for collecting turning information of automobile steering wheel - Google Patents
System and method for collecting turning information of automobile steering wheel Download PDFInfo
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- CN104748715A CN104748715A CN201510129678.4A CN201510129678A CN104748715A CN 104748715 A CN104748715 A CN 104748715A CN 201510129678 A CN201510129678 A CN 201510129678A CN 104748715 A CN104748715 A CN 104748715A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
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Abstract
The invention relates to a system for collecting turning information of an automobile steering wheel and a method for collecting turning information of the automobile steering wheel. An integration device 7 is formed by a steering wheel turning sensor 3, a signal processing and data calculating module 1, a wireless sending module 4, and a power module 2; the integration device 7 is installed on an automobile steering wheel face 8. After electrifying, the steering wheel turning sensor 3 is synchronously and coaxially rotated with the automobile steering wheel, and outputs an electric signal related with the steering wheel turning information in real time; the signal processing and data calculating module calculates an angle value, an angle speed value, and other steering wheel turning information according to the angle converting coefficient, the initial position parameter, and sending cycle after performing the discrete, sampling, analog-digital conversion and smoothing treatments on the electric signal, and then sends to an input port of the wireless sending module 4 in the form of serial data; a link formed by the wireless sending module and the wireless receiving module 5 automatically transmits the automobile steering wheel turning information to the computer 6 or the other smart terminal, so that researchers can analyze, process, and transform. The system and the method for collecting turning information of the automobile steering wheel are convenient to install, strong in applicability and free from influence on driving safety, and so on.
Description
Technical field
The present invention relates to car steering action message and gather field, especially relate to a kind of system and method gathering corner of vehicle steering wheel information.
Background technology
The rotation of vehicle steering directly control lateral direction of car displacement and curvilinear path, affects the performance such as operational stability, cruising characteristic during vehicle operating, reflects driving ability and the awareness of safety level of driver.Installing angle sensor in the motor turning comprising bearing circle and accessory transmission thereof, extracting driver's steering wheel rotation angle information, is the basis promoting automotive performance, design the R&D works such as vehicle-mounted safety assistant driving device, assess driver driving adaptability.Existing many corner of vehicle steering wheel information extracting methods in current published patent, such as " a kind of steering wheel angle measuring method based on gyroscope chip and device (CN103245284A) thereof ", " wheel steering angle sensor device (CN103072622A) ", " a kind of rotation angle detecting apparatus for measured automobiles steering wheel angle (CN203427881U) " etc.The technical scheme that this type of patent provides all can be expressed as: at bearing circle and pitman shaft thereof to installing angle sensor or detection system, line is powered and drawn signal, transfers to processing unit able to programme to carry out signal transacting and logical operation.The disadvantage of this technical scheme is adopted to be: difficulty is installed; Movement parts and wire easy to wear; Bearing circle connecting rod carries out processing installing device and can cause potential safety hazard to vehicle itself.Portion of techniques scheme can hinder driver, affects driving safety.
Summary of the invention
The object of the invention is the deficiency existed for existing collection corner of vehicle steering wheel information, a kind of corner of vehicle steering wheel information acquisition system and method are provided.
Technical solution of the present invention is: a kind of system gathering corner of vehicle steering wheel information, and it comprises: steering wheel angle sensor, signal transacting and data computation module, wireless sending module, power module, wireless receiving module; The signal input part of signal transacting and data computation module and steering wheel angle sensor are connected around the axle useful signal output terminal produced that moves; Steering wheel angle sensor, signal transacting and data computation module, wireless sending module, power module form an integrating device; Integrating device is installed in vehicle steering card, and integrating device is provided with standard interface, and wireless receiving module, computing machine or other intelligent terminals are connected with integrating device by standard interface, and therefrom power taking.
Described steering wheel angle sensor: for rotating of steering wheel running status (non electrical quantity) being directly changed into the standard electric signal be convenient to signal transacting and data and calculated.
Described signal transacting and data computation module: for the electric signal of steering wheel angle sensor collection is carried out discrete, sample, analog to digital conversion, smoothing processing, and carry out logical calculated by the CPU (central processing unit) of inside modules, corner information is delivered to wireless sending module corresponding port the most at last.
Described wireless sending module: corner of vehicle steering wheel information signal transacting and data conversion module exported, is wirelessly sent to long-range receiver module.
Described power module: for the sensor, module provide adaptive, stable voltage source.
Described wireless receiving module: for receiving the corner of vehicle steering wheel information that wireless sending module sends, and be the reading format being suitable for computing machine or other intelligent terminal mating ports by Data Format Transform.
Further, described steering wheel angle sensor is 3-axis acceleration sensor.
Further, described power module includes that energy-storage battery is steering wheel angle sensor, signal transacting and data computation module, wireless sending module is powered.
The present invention also provides a kind of corner of vehicle steering wheel information collecting method based on above-mentioned corner of vehicle steering wheel information acquisition system, comprises the following steps:
When () installs integrating device in bearing circle card a, an axle in adjustment direction dish rotary angle transmitter overlaps with vehicle steering center of rotation, and the signal input part of signal transacting and data computation module and steering wheel angle sensor are connected around the axle useful signal output terminal produced that moves;
B () powers on before, vehicle steering need be placed in center position, make vehicle front zero deflection;
C () powers on after, first signal transacting and data computation module record and store vehicle steering initial position value, subsequently according to parameters such as initial position value, transformation ratio, transmission cycles, smoothing process also calculates the output information relevant to steering wheel angle;
D corner of vehicle steering wheel information that () exports is as angle value, magnitude of angular velocity etc., by the data mode being directly converted to wireless sending module by the CPU (central processing unit) in signal transacting and data computation module and can read, via the link that wireless sending module, wireless receiving module are formed, transfer to computing machine or other intelligent terminals.
In above-mentioned steps, the smoothing processing in described step (c) uses following methods:
According to without Floating-point Computation functional process unit, use and solve arithmetic mean method;
According to there being Floating-point Computation functional process unit, using and solving arithmetic mean method or kalman filter method.
In above-mentioned steps, involved conversion coefficient writes when signal transacting and data computation module software code compile.
In above-mentioned steps, the data mode that the wireless sending module in described step (d) can read is serial data; The frequency of operation of wireless transmission/receiver is greater than steering wheel angle signal sampling frequency.
In above-mentioned steps, involved communications protocol, sampling duration, transmission periodic quantity write when signal transacting and data computation module software code compile.
Principle of work of the present invention is: after the steering wheel angle sensor being installed on vehicle steering card powers on, and, concentric synchronous with vehicle steering can rotate, and export the electric signal relevant to steering wheel angle information in real time; Electric signal is after discrete, sampling, analog to digital conversion, smoothing processing, go out the steering wheel angle such as angle value, magnitude of angular velocity information according to angle transformation ratio (rotary angle transmitter timing signal is determined), initial position parameters (determining when rotary angle transmitter powers on), transmission computation of Period at every turn, be sent to wireless sending module input port with serial data form; The link that wireless sending module, wireless receiving module are formed automatically by corner of vehicle steering wheel information transmission to computing machine or other intelligent terminals so that researchist carries out analyzing, processes, transforms.
The invention has the beneficial effects as follows:
(1). adopt 3-axis acceleration sensor to carry out electric signal conversion to bearing circle rotary state, principle is simple, applied range, and service condition is not by restrictions such as vehicle steering profile, size, specifications;
(2) steering wheel angle sensor, signal transacting and data computation module, wireless sending module, power module (containing energy-storage battery) carried out integrated and define a device, being installed in vehicle steering card.Avoid and destruction is dismantled and processed to the steering gears such as bearing circle connecting rod; Also the installation of device itself, adjustment, dismounting is conducive to;
(3) system uses wireless sending module, energy-storage battery, is connected without electric, signal with automobile body.Avoid the interference to automotive interior signal, and because of vibration, wire is wound around the power supply short circuit hidden danger caused;
(4), before system electrification, the correction of initial position angle value can be carried out.Avoid because housing installs loosening, that vehicle mechanical weares and teares, variation of ambient temperature causes the situations such as signal drift to cause detection system error increase;
(5) signal transacting and data computation module have digital smoothness function.When system hardware builds, according to CPU (central processing unit), whether there is Floating-point Computation function, determine to use corresponding digital smoothness method.
In sum, corner of vehicle steering wheel information acquisition system of the present invention has installation facility, applicability by force, on driving safety without advantages such as impacts.
Accompanying drawing explanation
Fig. 1 is that the present invention gathers corner of vehicle steering wheel information system structure schematic diagram.
Fig. 2 is that the present invention gathers corner of vehicle steering wheel infosystem installation site front elevation.
Fig. 3 is that the present invention gathers corner of vehicle steering wheel infosystem installation site side view.
Fig. 4 is that the present invention gathers corner of vehicle steering wheel infosystem bearing circle original operating state schematic diagram.
Fig. 5 is that the present invention gathers corner of vehicle steering wheel infosystem bearing circle deflection working state schematic representation.
Fig. 6 is that the present invention gathers corner of vehicle steering wheel information approach process flow diagram.
Fig. 7 is that the present invention gathers corner of vehicle steering wheel information approach digital smoothness method flow diagram.
In figure: 1. signal transacting and data computation module; 2. power module; 3. steering wheel angle sensor; 4. wireless sending module; 5. wireless receiving module; 6. computing machine; 7. integrating device; 8. vehicle steering card.
Embodiment
Below in conjunction with accompanying drawing, embodiments of the invention are elaborated: the present embodiment is implemented under premised on technical solution of the present invention, give detailed embodiment and process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, the one that the present invention relates to gathers corner of vehicle steering wheel infosystem, comprising: steering wheel angle sensor 3, signal transacting and data computation module 1, wireless sending module 4(is containing built-in aerial), power module 2(is containing energy-storage battery), wireless receiving module 5, computing machine 6.Wherein, signal input part and the steering wheel angle sensor 3 of signal transacting and data computation module 1 are connected around the axle useful signal output terminal produced that moves.Steering wheel angle sensor 3, signal transacting and data computation module 1, wireless sending module 4, power module 2 form an integrating device 7; Integrating device 7 is installed in vehicle steering card 8, and integrating device 7 is provided with standard interface, and wireless receiving module 5, computing machine 6 or other intelligent terminals are connected with integrating device 7 by standard interface, and therefrom power taking.
As shown in Figure 2 and Figure 3, in order to the facility making the present invention gather the installation of corner of vehicle steering wheel infosystem, adjustment, application, steering wheel angle sensor 3, signal transacting and data computation module 1, wireless sending module 4, power module 2 form an integrating device 7, and steering wheel angle sensor 3 are placed in the core of integrating device 7.During application, be installed on vehicle steering card 8 core by fastening for integrating device 7, and the center of rotation of steering wheel angle sensor 3 is overlapped with the center of rotation of vehicle steering card 8.
As shown in Figure 4, increasing for avoiding installing loosening, that vehicle mechanical weares and teares, variation of ambient temperature causes the situations such as signal drift to cause detection system error because of housing, needing before integrating device 7 powers on to carry out the correction of initial position angle value.The bearing circle card 8 that integrating device 7 is housed put makes integrating device 7 power on to center position as shown in Figure 3, the electric signal of now steering wheel angle sensor 3 generation is after signal transacting and data computation module 1 process, bearing circle card 8 can be obtained and be in certain angle value, this angle value is initial position angle value, is set to Δ
θ, signal transacting and data computation module 1 will preserve Δ
θin storer, and as the correction parameter of follow-up corner information output valve, until integrating device 7 power-off.
As shown in Figure 5, when bearing circle card 8 deflects (the present embodiment is clockwise direction), the electric signal that steering wheel angle sensor 3 produces is after signal transacting and data computation module 1 process, and obtaining angle value residing for bearing circle card 8 is
θ, in conjunction with aforementioned initial position angle value Δ
θ, angle exact value residing for exportable current bearing circle card 8
, formula is:
=θ-Δ
θ.
If signal transacting and data computation module 1 are being separated by
nthe individual sampling period
ttwo deflection angle angle value can be obtained
with
, now exportable bearing circle card 8 exists
nTthe angular velocity rotated in time
ω, formula is:
。
Above-mentioned
,
ωpositive and negative and bearing circle card 8 rotation direction (clockwise or counterclockwise) of value is associated.
As shown in Figure 6, the present invention gathers corner of vehicle steering wheel information approach flow process.Wherein, the installation method before integrating device 7 powers on, and initial angle angle value Δ
θ,angle exact value residing for bearing circle card 8
,
nTthe angular velocity rotated in time
ωcomputing method be described, no longer repeat.Only describe after integrating device 7 powers on herein, software execute process in signal transacting and data computation module 1.
Process can be described as:
Initiation parameter is read in storer, comprise steering wheel angle sensor 3 characterisitic parameter (output valve scope, calibration coefficient etc.), signal transacting and data computation module 1 setup parameter (baud rate, perform cycle timer duration, sampling period multiple etc.), digital smoothness process parameter (systematic error, the error of calculation, output error, kalman gain etc.), serial data communication agreement (message format, check code computing formula etc.), distributes counter variable
nstorage space;
After the signal that signal transacting and data computation module 1 pair of steering wheel angle sensor 3 produce carries out the digital-to-analog conversion process such as discretize, quantification, coding, carry out digital smoothness process, obtain initial angle angle value Δ
θand memory allocated space is preserved;
Obtain the electric signal in steering wheel angle sensor 3 corresponding to bearing circle card 8 current location, according to Δ
θthe current residing angle value of calculated direction dish card 8, memory allocated space stores;
Utilize counter variable
nloop iteration carries out time delay;
Obtain the electric signal in steering wheel angle sensor 3 corresponding to bearing circle card 8 current location, according to Δ
θthe current residing angle value of calculated direction dish card 8
;
According to
,
, calculated direction dish exists
nTangular velocity in time
ω, will
value is kept at
storage space (is namely used
cover
value), and will
ncompose 0 value;
Signal transacting and data computation module 1 are by angle value
, magnitude of angular velocity
ωwireless sending module 4 input port is sent to serial data form.
Transmitting serial data between wireless sending module 4 and wireless receiving module 5, and the serial communication between wireless receiving module 5 and computing machine 6 all adopts asynchronous communication pattern automatically to complete, the frequency of operation of wireless transmission/receiver is greater than steering wheel angle signal sampling frequency and can meets the demands.
After the signal that signal transacting and data computation module 1 pair of steering wheel angle sensor 3 produce carries out the digital-to-analog conversions such as discretize, quantification, coding, still need to carry out digital smoothness process, with the impact preventing the intrinsic systematic error of steering wheel angle sensor 3 itself, stochastic error is brought the collection of bearing circle corner information.
Signal transacting and data computation module 1, according to without Floating-point Computation functional process unit, use and solve arithmetic mean method; According to there being Floating-point Computation functional process unit, using and solving arithmetic mean method or kalman filter method.
As shown in Figure 7, the present invention gathers corner of vehicle steering wheel release Kalman Filtering digital smoothness method flow diagram.
Process can be described as:
Initialization assignment is carried out and memory allocated space to the parameter needed for Kalman filtering digital smoothness method, comprising: systematic error
s, the error of calculation
c, output error
u, to kalman gain
gassignment 0, to sensor input value (through analog-to-digital conversion process)
rcompose the random value in range, sensor exports
linitial value assignment 0;
Read sensor input value, upgrades
r;
According to systematic error
s, the error of calculation
c, output error
u,calculate and upgrade kalman gain
g, formula is:
According to sensor input value
r, kalman gain
g, last sensor exports
l, calculate and upgrade sensor output value
, be designated as, formula is:
After calculating, will
be kept at
lstorage space (is namely used
cover
l);
According to systematic error
s, kalman gain
g, the last error of calculation
c, calculate upgrade the error of calculation, be designated as
, formula is:
After calculating, will
be kept at
cstorage space (is namely used
cover
c);
Finally, to other treatment step transmission in signal transacting and data computation module 1
lvalue, completes single Kalman filtering digital smoothness process.
Process described in Fig. 7 can be considered " bearing circle card 8 initial angle angle value Δ in Fig. 6
θ, residing angle exact value
with
" digital smoothness processing procedure in acquisition process.
Claims (8)
1. one kind gathers the system of corner of vehicle steering wheel information, comprise steering wheel angle sensor (3), it is characterized in that: system also comprises signal transacting and data computation module (1), wireless sending module (4), power module (2), wireless receiving module (5); The signal input part of signal transacting and data computation module (1) and steering wheel angle sensor (3) are connected around the axle useful signal output terminal produced that moves; Steering wheel angle sensor (3), signal transacting and data computation module (1), wireless sending module (4), power module (2) form an integrating device (7); Integrating device (7) is installed in vehicle steering card (8), and integrating device (7) is provided with standard interface, and wireless receiving module (5), computing machine (6) or other intelligent terminals are connected with integrating device (7) by standard interface, and therefrom power taking.
2. gather a system for corner of vehicle steering wheel information, it is characterized in that:
Described steering wheel angle sensor (3) is for being directly changed into the standard electric signal be convenient to signal transacting and data and calculated by rotating of steering wheel running status;
Described signal transacting and data computation module (1) for the electric signal that steering wheel angle sensor (3) is gathered carry out discrete, sample, analog to digital conversion, smoothing processing, and carry out logical calculated by the CPU (central processing unit) in module, corner information is delivered to wireless sending module (4) corresponding port the most at last;
The corner of vehicle steering wheel information that signal transacting and data conversion module (1) export by described wireless sending module (4), is wirelessly sent to long distance wireless receiver module (5);
Described power module (2) is steering wheel angle sensor (3), signal transacting and data computation module (1), wireless sending module (4) is for adaptive, stable voltage source;
The corner of vehicle steering wheel information that described wireless receiving module (5) sends for receiving wireless sending module (4), and by Data Format Transform for being suitable for the reading format of computing machine (6) or other intelligent terminal mating ports.
3. gather a system for corner of vehicle steering wheel information, it is characterized in that steering wheel angle sensor (3) is 3-axis acceleration sensor.
4. adopt a corner of vehicle steering wheel information collecting method for system described in claim 1-3, its characterization step is as follows:
When () installs integrating device (7) a, an axle in adjustment direction dish rotary angle transmitter (3) overlaps with vehicle steering center of rotation, and the signal input part of signal transacting and data computation module (1) and steering wheel angle sensor (3) are connected around the axle useful signal output terminal produced that moves;
B () powers on before, vehicle steering is placed in center position, makes vehicle front zero deflection;
C () powers on after, signal transacting and data computation module (1) first record and store vehicle steering initial position value, subsequently according to the parameter such as initial position value, conversion coefficient, carry out digital smoothness process and calculate exporting the information relevant to steering wheel angle;
D corner of vehicle steering wheel information that () exports is as angle value, magnitude of angular velocity etc., by the data mode being directly converted to wireless sending module (4) by the CPU (central processing unit) in signal transacting and data computation module (1) and can read, via the link that wireless sending module (4), wireless receiving module (5) are formed, transfer to computing machine (6) or other intelligent terminals.
5. a kind of corner of vehicle steering wheel information collecting method as claimed in claim 4, is characterized in that the smoothing processing in step (c) uses following methods: when adopting without Floating-point Computation functional process unit, use and solve arithmetic mean method; When employing has a Floating-point Computation functional process unit, use and solve arithmetic mean method or kalman filter method.
6. a kind of corner of vehicle steering wheel information collecting method as claimed in claim 4, is characterized in that conversion coefficient involved in step (c) writes when signal transacting and data computation module (1) software code compile.
7. a kind of corner of vehicle steering wheel information collecting method as claimed in claim 4, is characterized in that the data mode that in step (d), wireless sending module (4) can read is serial data; The frequency of operation of wireless transmission/receiver is greater than steering wheel angle signal sampling frequency.
8. a kind of corner of vehicle steering wheel information collecting method as claimed in claim 4, is characterized in that communications protocol involved in step (d), sampling duration, transmission periodic quantity write when signal transacting and data computation module 1 software code compile.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510129678.4A CN104748715A (en) | 2015-03-24 | 2015-03-24 | System and method for collecting turning information of automobile steering wheel |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510129678.4A CN104748715A (en) | 2015-03-24 | 2015-03-24 | System and method for collecting turning information of automobile steering wheel |
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| CN104748715A true CN104748715A (en) | 2015-07-01 |
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ID=53588761
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|---|---|---|---|
| CN201510129678.4A Pending CN104748715A (en) | 2015-03-24 | 2015-03-24 | System and method for collecting turning information of automobile steering wheel |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106679613A (en) * | 2017-02-20 | 2017-05-17 | 北京世纪联信科技有限公司 | Noncontact rotary sensor |
| CN107351915A (en) * | 2017-07-12 | 2017-11-17 | 哈尔滨工业大学 | A kind of corner of vehicle steering wheel information acquisition system and acquisition method |
| CN112407048A (en) * | 2020-11-17 | 2021-02-26 | 北京理工大学 | Measuring system for steering wheel corner and torque |
| CN112816230A (en) * | 2021-01-14 | 2021-05-18 | 中汽院(重庆)汽车检测有限公司 | System and method for testing free rotation quantity of steering wheel |
| CN113276944A (en) * | 2021-05-10 | 2021-08-20 | 武汉乐庭软件技术有限公司 | Steering wheel corner smoothing method for automatic parking system |
| CN114877852A (en) * | 2022-06-14 | 2022-08-09 | 江铃汽车股份有限公司 | Detection equipment and detection method for steering wheel angle sensor |
| WO2023001090A1 (en) * | 2021-07-22 | 2023-01-26 | 广州小鹏汽车科技有限公司 | Interface-based processing method for driving simulator, remote control platform, and system and storage medium |
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| CN112407048A (en) * | 2020-11-17 | 2021-02-26 | 北京理工大学 | Measuring system for steering wheel corner and torque |
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| WO2023001090A1 (en) * | 2021-07-22 | 2023-01-26 | 广州小鹏汽车科技有限公司 | Interface-based processing method for driving simulator, remote control platform, and system and storage medium |
| CN114877852A (en) * | 2022-06-14 | 2022-08-09 | 江铃汽车股份有限公司 | Detection equipment and detection method for steering wheel angle sensor |
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